| Title: |
Controller Design for Cooperative Driving with Guaranteed Safe Behavior |
| Authors: |
Ligthart, J.; Semsar-Kazerooni, E.; Ploeg, J.; Alirezaei, M.; Nijmeijer, H. |
| Source: |
2nd IEEE Conference on Control Technology and Applications, CCTA 2018, 21 August 2018 through 24 August 2018, 1460-1465 |
| Publisher Information: |
Institute of Electrical and Electronics Engineers Inc. |
| Publication Year: |
2018 |
| Collection: |
TU Delft: Institutional Repository (Delft University of Technology) |
| Subject Terms: |
Adaptive control systems; Adaptive cruise control; Braking; Safety engineering; Vehicles; Braking strategies; Controller designs; Cooperative adaptive cruise control; Cooperative driving; Nominal controller; Operational range; Operational regions; Simulation studies; Controllers |
| Description: |
A shortcoming of many Cooperative Adaptive Cruise Control (CACC) schemes is the lack of a guarantee of safe vehicle behavior in a platoon, i.e., making sure that a vehicle does not collide with its preceding vehicle in case the latter performs a deceleration outside the operational range of the CACC system. To overcome that problem, this paper presents a controller design which has a Collision Avoidance (CA) functionality to guarantee safe vehicle behavior. When the vehicle is in a safe operational region, the nominal controller is applied, which can be designed independent of the CA function. However, when the nominal controller cannot guarantee a safe behavior, a predefined gradual braking strategy is imposed. Enforcing a gradual braking strategy instead of prompt full braking has the benefit that if a safety-critical situation resolves itself quickly, full braking is not applied. The controller scheme is illustrated in a simulation study, which shows that, as a result, the vehicles behave safely, even when the preceding vehicle instantly applies full braking. © 2018 IEEE. |
| Document Type: |
article in journal/newspaper |
| Language: |
unknown |
| Relation: |
uuid:54527915-6530-472e-ad30-946daf3c236b; 843674; http://resolver.tudelft.nl/uuid:54527915-6530-472e-ad30-946daf3c236b |
| Availability: |
http://resolver.tudelft.nl/uuid:54527915-6530-472e-ad30-946daf3c236b |
| Accession Number: |
edsbas.2956E954 |
| Database: |
BASE |